System and method of stoichiometric combustion for hydrogen fueled internal combustion engines

ABSTRACT

A hydrogen-fueled internal combustion engine utilizes either internal or external exhaust gas recirculation (EGR), while providing an overall stoichiometric fuel/air ratio. An EGR system provides recirculated exhaust gas to the engine, and an engine controller regulates fuel flow to control torque and achieve a stoichiometric fuel/air ratio. A three-way catalyst can be applied to the exhaust gas to produce near-zero emissions. In addition, turbocharging or mechanical supercharging can also be used to increase power.

FIELD

This invention relates to systems and methods for controlling hydrogen fueled internal combustion engines.

BACKGROUND

A perfectly balanced air and fuel mixture is commonly known as a ‘stoichiometric’ mixture. Theoretically, this type of mixture will burn all of the available fuel charge using all of the oxygen available in the air charge. The normalized fuel/air equivalence ratio, designated φ, or phi, is defined as the actual fuel/air ratio divided by the stoichiometric fuel/air ratio for any particular fuel of interest in any consistent set of units (mass ratio, volume ratio, etc.). The fuel/air ratio φ, or phi, is also equivalent to the inverse of the normalized fuel/air ratio known as lambda, or λ. φ equals 1 for a stoichiometric fuel/air ratio. When excess fuel is present (φ greater than one), the mixture is referred to as a ‘rich’ mixture. On the other hand, when excess air is present (φ less than one), the mixture is referred to as a ‘lean’ mixture.

A problem with the use of hydrogen as a motor fuel occurs due to the high flame speed of hydrogen. Hydrogen has an extremely rapid flame speed near stoichiometric fuel/air ratio conditions, which leads to unstable combustion, high oxides of nitrogen (NOx) emissions, and an audible “knocking” sound. The knocking sounds occur even when the combustion is not in a state of true knock from preignition or detonation. For these reasons, most hydrogen-fueled internal combustion engines have only been operated at lean fuel/air ratios.

To slow the hydrogen flame speed for stable combustion, fuel/air equivalence ratios of approximately 0.8φ or less are necessary, and acceptable NOx emissions may require equivalence ratios of 0.5φ or less. The wide flammability range of hydrogen allows operation down to equivalence ratios of about 0.2φ. These lean fuel/air ratio conditions limit the specific power output of hydrogen engines, so supercharging or turbo charging is often used to bring the output back up to typical diesel or gasoline power levels.

For the lowest possible exhaust emissions, it is generally desirable to operate spark-ignited internal combustion engines at a stoichiometric fuel/air ratio. This allows the use of a three-way exhaust catalyst, which oxidizes any unburned fuel and carbon monoxide, and reduces almost all of the NOx emissions and any unreacted oxygen. Emissions with a three-way (HC+CO+NOx) catalyst are much less than lean-burn emissions, especially regarding NOx. Current catalyst technology cannot effectively reduce NOx emissions of lean-burn engines. The extremely lean operating conditions possible with hydrogen fuel can dramatically reduce NOx emissions, but only at the expense of specific power and efficiency.

Lean burning engines avoid high NOx emissions by diluting the charge with extra air to reduce peak flame temperature. This dilution also reduces flame speed, which is excessive for near-stoichiometric hydrogen/air mixtures. Using exhaust gas recirculation (EGR), with stoichiometric overall fuel/air ratio, the dilution effects are similar. The flame speed and combustion temperatures are reduced to stabilize the combustion and further decrease NOx formation. The EGR diluted, stoichiometric exhaust lacks excess oxygen to interfere with the NOx-reduction activity of the three-way catalysts, and less oxygen is available in the combustion chamber for NOx formation, relative to lean-burn air dilution. Any unburned hydrogen is a powerful reducing agent for efficient catalysis of nitrogen oxides at low exhaust temperatures.

In the typical spark ignited engine, there are efficiency losses due to throttling, known as pumping work. A throttle plate is used to control airflow through the intake manifold into the combustion chamber. It is advantageous to keep the pressure drop across the throttle to a minimum, whenever possible, to avoid efficiency losses. However, there are problems associated with the operation of lean-burn hydrogen engines at wide open throttle. At very low loads, throttling is typically needed to control the combustion stability of hydrogen. This also limits the unburned hydrogen emissions. At medium to high loads, the power output of a lean-burn hydrogen engine may be controlled by varying the fuel/air ratio at wide open throttle, but a reasonable power output for a given engine size requires fuel/air ratios rich enough to substantially increase the NOx emissions.

The methods of EGR can be broadly classified as either ‘internal’ or ‘external’. By closing the exhaust valve early or leaving it open through the intake valve opening and the beginning of the intake stroke, exhaust gases can either be trapped or drawn back into the engine cylinder for internal EGR. With a naturally aspirated hydrogen engine, a fixed-timing cam with delayed exhaust valve closing can be designed to deliver an appropriate EGR percentage at wide open throttle. At lower loads, as the air intake throttle is closed, the intake manifold pressure is reduced relative to the exhaust manifold pressure. This reduces power by both throttling the intake air charge and by drawing in additional EGR. However, the amount of throttling at a given part-load condition is greatly reduced, which also reduces pumping losses and improves part-load efficiency. Internal EGR may also be controlled with variable valve timing control, common on many modern gasoline engines. With variable valve timing, the EGR percentage can be directly controlled between the exhaust valve closing and intake valve opening times, and no throttling is necessary.

Internal EGR is hot EGR, which may increase the likelihood of preignition and/or intake backfiring. Hydrogen fuel has a fairly high autoignition temperature, but the ignition energy requirement is extremely low. Therefore, hot exhaust gases, particles, or residual combustion reactions may ignite the incoming air/hydrogen mixture. These risks can be mitigated by combustion chamber design details and good lubrication oil control. In addition, the simplicity of the fixed-cam-timing, internal EGR system may outweigh the small efficiency losses resulting from slight throttling, compared to completely unthrottled, variable valve timing or external EGR systems. On the other hand, designing a fixed-timing cam for turbocharged engines may be difficult, due to the uncertain relationship between the intake and exhaust manifold pressures at various operating conditions. Internal EGR with fixed cam timing may also require delayed intake valve opening and near-zero valve timing overlap for supercharged engines, since the intake pressure is almost always greater than the exhaust pressure. In this case, additional part load throttling may also be required.

In contrast to internal EGR control systems, external EGR is plumbed from the exhaust manifold, or further downstream, back to the intake manifold, or further upstream, through a separate metering valve or flow control device. This external EGR flow can be further categorized as ‘hot’ or ‘cooled’. For conventional gasoline engines utilizing hot EGR, the EGR flow is relatively small, so the passive cooling provided by the EGR plumbing and mixing with cooler intake air is sufficient to avoid any problems due to excessive intake temperature. However, modern diesel engines utilizing very high EGR flow rates use a dedicated EGR heat exchanger, cooled by the engine coolant loop. Hydrogen engines with EGR for torque control can have EGR flow rates even higher than typical diesels, and they can utilize the EGR coolers developed for similar or somewhat larger diesel engines.

The foregoing examples of the related art and limitations related therewith are intended to be illustrative and not exclusive. Other limitations of the related art will become apparent to those of skill in the art upon a reading of the specification and a study of the drawings.

SUMMARY

A system and a method for controlling hydrogen fueled engines to control engine torque and achieve stoichiometric combustion are provided. The system includes a hydrogen fueled internal combustion engine, a fuel system configured to provide a flow of hydrogen fuel to the engine, and an exhaust gas recirculation (EGR) system configured to provide a recirculated gas flow to the engine which includes exhaust gases. The system also includes either a throttle (for internal, fixed cam timing EGR), variable valve timing (for internal, unthrottled EGR), or an air & EGR control valve (for external EGR) configured to control the recirculated gas flow and ambient air flow to the engine. The system also includes an engine controller configured to control the fuel system, the EGR system and/or the air and EGR control valve, such that the engine receives a stoichiometric fuel/air ratio. The system also includes one or more sensors configured to provide engine operating data to the controller, and an exhaust catalyst configured to remove emission gases from the exhaust gases.

The system overcomes the rapid flame speed and unstable combustion of hydrogen at stoichiometric fuel/air ratios by diluting the fuel/air charge with recycled exhaust. Typically, the exhaust gas in a lean burning system will bring along extra oxygen that interferes with the three-way catalyst, and increases NOx production. By using EGR with a stoichiometric fuel/air mixture, there is very little, if any, excess oxygen in a stoichiometric exhaust to interfere with the NOx-reduction activity of the three-way catalyst. In addition, less oxygen is available for NOx production in the combustion chamber, and flame speed and combustion temperature are reduced to stabilize the combustion and further reduce NOx formation.

Utilizing fixed cam timing and internal EGR with hydrogen fuel, the relative extent of throttling for torque control is greatly reduced, which reduces pumping losses at part load conditions. In the variable valve timing or external EGR systems, the hydrogen engine does not require the use of any throttling to control intake air flow at various loads, which provides dramatic improvements in part-load fuel efficiency. In addition, the engine operates on an overall stoichiometric fuel/air ratio, providing near-zero emissions from the exhaust catalyst and relatively high specific power.

Because the engine is operated at stoichiometric conditions, the recirculated exhaust gas will contain substantially zero oxygen. In sufficient quantity, this EGR prevents knocking, unstable combustion and excessive NOx emissions. In addition, applying a three-way catalyst to zero oxygen exhaust from the engine produces near-zero emissions. Further, the use of variable EGR with stoichiometric hydrogen, along with the three-way catalyst, overcomes the trade-off between power density and emissions that is typical for traditional lean-burn hydrogen operation. Supercharging or turbocharging can also be utilized with the hydrogen powered engine to provide improved specific power output. Turbocharging may also produce further efficiency improvements.

The method includes the steps of providing a flow of gaseous hydrogen fuel, a flow of ambient air, and a flow of recirculated exhaust gas to the engine (internally or externally supplied). The method also includes the steps of mixing the flow of recirculated exhaust gas and the flow of ambient air, determining a flow rate of hydrogen fuel necessary to create a stoichiometric fuel/air ratio, and then regulating the hydrogen fuel flow to control the torque of the engine and create a stoichiometric fuel/air ratio.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments are illustrated in the referenced figures of the drawings. It is intended that the embodiments and the figures disclosed herein are to be considered illustrative rather than limiting.

FIG. 1 is a schematic diagram of an internal EGR system that includes a naturally-aspirated engine with fixed cam timing and delayed exhaust valve closing;

FIG. 2 is a schematic diagram of an internal EGR system that includes a naturally-aspirated engine with variable valve timing;

FIG. 3 is a schematic diagram of an external EGR system that includes a naturally-aspirated or mechanically supercharged engine;

FIG. 4 is a diagram of a high pressure external EGR system that includes a turbocharged engine;

FIG. 5 is a diagram of a low pressure external EGR system that includes a turbocharged engine;

FIG. 6 is a schematic diagram of the turbocharger used in the systems of FIG. 4 and FIG. 5;

FIG. 7 is a schematic diagram of an internal combustion engine for the systems of FIGS. 1 through 5;

FIG. 8 is a schematic diagram of an engine controller and sensors for sensing data in the systems of FIGS. 1 through 5;

FIG. 9 is a flow chart of a method for determining a stoichiometric fuel/air ratio from engine operating data;

FIG. 10 is a schematic diagram of a hot-wire anemometer; and

FIG. 11 is a flow chart of a method for operating a hydrogen fueled internal combustion engine.

DETAILED DESCRIPTION

Referring to FIG. 1, an internal EGR system 10A powered by hydrogen fuel is illustrated. The system 10A includes an internal combustion engine 12A configured to burn the hydrogen fuel. In addition, the engine 12A is naturally aspirated, has fixed cam timing and is configured for internal EGR. The system 10A also includes an intake manifold 14A in flow communication with the engine 12A configured to receive the ambient air. The system 10A also includes a throttle 13A configured to control the air flow to the engine 12A. The throttle 13A also controls the EGR percentage indirectly, by varying the pressure difference between the intake manifold 14A and the exhaust manifold 20A.

The system 10A (FIG. 1) includes an exhaust manifold 20A in flow communication with the engine 10A, and an exhaust catalyst 22A, in flow communication with the exhaust manifold 20A. After leaving the engine 12A via the exhaust manifold 20A, the exhaust gas enters the exhaust catalyst 22A. The exhaust catalyst 22A comprises a three-way catalyst typically found in automotive applications, which is configured to reduce carbon monoxide, hydrocarbon emissions and NOx emissions. After the exhaust gas is processed in the exhaust catalyst 22A, it exits the system 10A via an exhaust outlet 24A.

The system 10A (FIG. 1) also includes a mass airflow sensor (MAF) 15A configured to measure the mass flow of air into the throttle 13A. The system 10A also includes a temperature and manifold absolute pressure (TMAP) sensor 17A configured to measure the temperature and absolute pressure of the total air and EGR flow into the intake manifold 20A. The system 10A also includes an (RPM) sensor 19A configured to measure the speed of the engine 12A in revolutions per minute. The system 10A also includes an exhaust gas oxygen (EGO) sensor 21A configured to measure the oxygen content of the exhaust gas exiting the exhaust manifold 20A. Each of the sensors (15A, 17A, 19A, 21A) and the throttle 13A as well, is in signal communication with an engine controller 25A. As will be further explained, using input from the sensors (15A, 17A, 19A, 21A), the flows of air, EGR and hydrogen fuel to the engine 12A are controlled to achieve a stoichiometric fuel/air ratio at the desired torque. The sensors also provide the data necessary for calculating the EGR percentage, which may be further used for other engine control functions, such as ignition timing.

Referring to FIG. 2, an internal EGR system 10B powered by hydrogen fuel is illustrated. The system 10B includes an internal combustion engine 12B configured to burn the hydrogen fuel. In addition, the engine 12B is naturally aspirated, has variable valve cams 27B for adjusting valve timing, and is configured for internal EGR. The system 10B also includes an intake manifold 14B in flow communication with the engine 12B configured to receive the ambient air. The system 10B also includes an exhaust manifold 20B in flow communication with the engine 10B, and an exhaust catalyst 22B, in flow communication with the exhaust manifold 20B.

The system 10B (FIG. 2) also includes a mass airflow sensor (MAF) 15B configured to measure the mass flow of air into the intake manifold 14B. The system 10B also includes a temperature and manifold absolute pressure (TMAP) sensor 17B configured to measure the temperature and absolute pressure of the air flow into the intake manifold 20B. The system 10B also includes an (RPM) sensor 19B configured to measure the speed of the engine 12B in revolutions per minute. The system 10B also includes an exhaust gas oxygen (EGO) sensor 21B configured to measure the oxygen content of the exhaust gas exiting the exhaust manifold 20B. Each of the sensors (15B, 17B, 19B, 21B), and the variable cams 27B as well, is in signal communication with an engine controller 25B. As will be further explained, using input from the sensors (15B, 17B, 19B, 21B) the flow of air, EGR and hydrogen fuel to the engine 12B is controlled to achieve a stoichiometric fuel/air ratio at the desired torque. The sensors also provide the data necessary for calculating the EGR percentage, which may be further used for other engine control functions, such as ignition timing.

Referring to FIG. 3, an external EGR system 10C powered by hydrogen fuel is illustrated. The system 10C includes an internal combustion engine 12C configured to burn the hydrogen fuel. The engine 12C can be naturally aspirated, or can optionally include a supercharging system 11C.

The system 10C (FIG. 3) also includes an intake manifold 14C in flow communication with the engine 12C, an exhaust manifold 20C in flow communication with the engine 12C, and an exhaust catalyst 22C in flow communication with the exhaust manifold 20C. The system 10C also includes a mass airflow sensor (MAF) 15C configured to measure the mass flow of air into the air and EGR flow control valve 18C. The system 10C also includes a temperature and manifold absolute pressure (TMAP) sensor 17C configured to measure the temperature and absolute pressure of the air flow into the intake manifold 20C. The system 10C also includes an (RPM) sensor 19C configured to measure the speed of the engine 12C in revolutions per minute. The system 10C also includes an exhaust gas oxygen (EGO) sensor 21C configured to measure the oxygen content of the exhaust gas exiting the exhaust manifold 20C. Each of the sensors (15C, 17C, 19C, 21C), is in signal communication with an engine controller 25C.

The system 10C (FIG. 3) also includes an air & EGR flow control valve 18C in signal communication with controller 25C and in flow communication with an air & EGR mixer 16C. In the naturally aspirated embodiment the output from the air and EGR mixer 16C feeds directly into the intake manifold 14C. In the supercharged embodiment the output from the air and EGR mixer 16C feeds into a supercharger 36C in signal communication with controller 25C and in flow communication with the intake manifold 14C. The air & EGR flow control valve 18C is connected to an ambient air inlet 38C, which provides the ambient air, and to a recirculated gas conduit 30C which provides the recirculated exhaust gas. The air & EGR mixer 16C is configured to mix the ambient air and the recirculated exhaust gas (EGR). The exhaust gas from the engine 12C is processed in the exhaust catalyst 22C, and then either exits the system 10C via an exhaust outlet 24C, or is recirculated back through the recirculated gas conduit 30C to the air & EGR flow control valve 18C.

Hot recirculated exhaust gas increases the likelihood of preignition and/or intake backfiring. Even though hydrogen fuel has a fairly high autoignition temperature, the ignition energy requirement is extremely low. Any hot exhaust gases, particles, or residual combustion reactants may ignite the incoming air/hydrogen mixture. To avoid any issues with preignition, backfire, or excessive intake temperatures, the system 10C (FIG. 3) can also include an EGR cooler/condensate trap 26C in the recirculated gas conduit 30C configured to cool the recirculated exhaust gas prior to entry into the air & EGR flow control valve 18C. The EGR cooler/condensate trap 26C can be similar to an air-to-water intercooler, but is designed for higher temperatures (up to 800° C.) and potentially corrosive exhaust condensation.

The right side of FIG. 3 illustrates two different embodiments of the air & EGR flow control valve 18C. In a first embodiment (upper), the air & EGR flow control valve 18C comprises a proportional control valve 32C that proportions the air and EGR flow areas. In a second embodiment (lower), the air & EGR flow control valve 18C comprises a tandem air/EGR valve 34C. Either valve (proportional control valve 32C or tandem air/EGR valve 34C) avoids throttling efficiency losses by minimizing the overall intake flow restriction.

The proportional control valve 32C (FIG. 3) operates by proportioning the ratio of air and recirculated exhaust gas entering the valve 32C. The proportional control valve 32C includes an air orifice 44C for air, and an exhaust gas orifice 46C for recirculated exhaust gas. In a naturally aspirated system, the air orifice 44C receives a flow of ambient air from the atmosphere surrounding the system 10C. Optionally, with the supercharging system 11C the air orifice 44C can be in flow communication with the supercharger 36C. In both the naturally aspirated and supercharged configurations of the system 10C (FIG. 3), the exhaust gas orifice 46C of the proportional control valve 32C is in flow communication with the EGR cooler/condensate trap 26C via the recirculated gas conduit 30C. Both orifices 44C and 46C are in flow communication with an exit orifice 48C, which is in flow communication with the air & EGR mixer 16C. By proportioning the amount of air and recirculated exhaust gas entering the proportional control valve 32C, the ratio of air to recirculated exhaust gas entering the air & EGR mixer 16C can be controlled.

The tandem air/EGR valve 34C (FIG. 3) can be utilized in place of the proportional control valve 32C. The tandem air/EGR valve 34C includes an air valve 50C and a recirculated exhaust gas valve 52C, both in flow communication with an exit orifice 54C. In the naturally aspirated embodiment of the system 10C, the air valve 50C receives a flow of ambient air from the atmosphere surrounding the system 10C. Optionally, in the supercharged embodiment of the system 10C, the air valve 50C is in flow communication with the supercharger 36C. In both the naturally aspirated and supercharged embodiments of the system 10C, the recirculated exhaust gas valve 52C is in flow communication with the EGR cooler/condensate trap 26C via the recirculated gas conduit 30C. The air valve 50C and the recirculated exhaust gas valve 52C are opened or closed to control the ratio of air to recirculated exhaust gas leaving the exit orifice 54C.

In the supercharged embodiment of the system 10C (FIG. 3), it may be beneficial to cool the air from the supercharger 36C prior to mixing the air with the recirculated exhaust gas. Accordingly, the system 10C can optionally include an air charge intercooler/condensate trap 40C in flow communication with the supercharger 36C and with the inlet manifold 14C. Once the air is cooled, it leaves the air charge intercooler/condensate trap 40C through the ambient air conduit 28C and enters the intake manifold 14C

In either the naturally aspirated embodiment or the supercharged embodiment of the system 10C (FIG. 3), the EGR flow rate can be controlled using either the proportional control valve 32C, or the tandem air/EGR valve 34C, with a separate air valve 50C and recirculated exhaust valve 52C. Either valve 32C or 34C avoids throttling efficiency losses by limiting the overall intake flow restriction. In addition, using input from the sensors (15C, 17C, 19C, 21C), the flow of air, EGR and hydrogen fuel to the engine 12C can be controlled to achieve a stoichiometric air fuel ratio at the desired torque. The sensors (15C, 17C, 19C, 21C) also provide the data necessary for calculating the EGR percentage, which may be further used for other engine control functions, such as ignition timing.

With any external EGR system, condensation of the cooled exhaust will occur, and potential issues with intake of the liquid water must be considered in the system design. Even if a system has condensation mitigation controls, liquid water will still occur during a cold start or possibly during transient conditions. Water may cause corrosion problems, especially with acidic compounds formed by absorbed exhaust gases. Water vapor condensing and vaporizing from reservoirs and low spots in the plumbing causes variable and unmeasured changes in the engine intake flow and composition, which can lead to engine control errors. In the extreme case, the intake of a sudden, relatively large amount of water could even hydraulically seize the engine.

In addition to the selection of compatible materials for engine or plumbing parts in contact with EGR condensation, there are several common methods for managing the mitigation and collection issues of intake water from condensed exhaust. By keeping the normal operating temperature of the EGR cooler and air charge intercooler high enough, condensation will only occur during cold-start and warm-up conditions. The mole fraction of water vapor in stoichiometric hydrogen exhaust is about 35%. At atmospheric pressure, this exhaust can be cooled down to 73° C. without condensation; at a higher boost condition of 300 kPa, the EGR must be kept above 101° C. to avoid condensation. Likewise, the ambient intake air to the turbo may be saturated at 100% humidity. After pressurizing with the turbo and cooling in the intercooler, condensation may result—and EGR will add to this potential for condensation. For example, at a worst-case condition of 100% humidity at 40° C. ambient, 300 kPa boost pressure, and 75% EGR, the intercooler outlet must be kept above 95° C. to avoid condensation.

By measuring pressure at the EGR cooler outlet, the minimum temperature to avoid condensation can be calculated by the engine controller from the combustion stoichiometry and a table of temperature vs. water vapor pressure. Then, the EGR can be actively controlled at or above this condensation temperature by controlling the flow of coolant or bypassing the coolant or EGR around the cooler. Likewise, by measuring the ambient air temperature and relative humidity (or by measuring ambient air temperature and assuming 100% humidity), and by measuring pressure at the intercooler outlet, the temperature of the mixed intake air and EGR can be controlled above its calculated ‘dew point’. It is also possible to simply limit the amount of EGR based on the actual outlet temperatures and pressures of the EGR cooler and intercooler—in this case, intake throttling may be necessary at low temperatures and light loads. For the cases above, where condensation is avoided during normal operation, the small or intermittent condensation may be controlled with a simple drain hole at the low point of the plumbing immediately after the EGR cooler and/or the turbocharger air charge intercooler. If the intake plumbing does not coalesce enough of the condensation at start-up, additional baffles, elbows, inertial mist separation devices, and/or mist impingement surfaces may be necessary to avoid issues, like spark plug fouling with water, until the engine warms to normal operating temperature.

The opposite approach to managing EGR condensation is to try to condense as much water as possible during normal operation. This strategy adds complexity to the plumbing, since mechanical water droplet separators (like cyclonic ‘knock-out drums’), float drains, and heaters and insulation to avoid water freezing in cold environments are likely to be necessary. The engine control algorithms may also become more complex due to measuring and compensating for a variable water vapor content of the intake charge. The major benefit, however, is increased power density due to cooling the intake charge as much as possible.

In addition, there is a subtle efficiency advantage to removing water vapor from the intake charge. The ratio of specific heats of diatomic molecules (like nitrogen or oxygen) is more favorable than tri-atomic molecules (like water or carbon dioxide) for the theoretical Carnot efficiency of the engine. For example, with 75% EGR at a boost pressure of 300 kPa, comparing an intake charge saturated with water vapor at 50° C. (most of the EGR water vapor condensed and drained) vs. an intake charge saturated with water vapor at 95° C. (no EGR condensation) results in a theoretical efficiency improvement of 3.67%. For this example, an engine with 43.0% brake thermal efficiency could be improved to 44.6% brake thermal efficiency by the condensing and draining of 89% of the water in the EGR.

Referring to FIG. 4, an alternate embodiment system 10D containing a turbocharging system is illustrated. The system 10D includes an engine 12D, an intake manifold 14D, an air & EGR Mixer 16D, an air & EGR flow control valve 18D, an exhaust manifold 20D, an EGR cooler/condensate trap 26D, and a controller 25D, all of which are constructed substantially as previously described for the system 10C (FIG. 3). The system 10D can also include a proportional control valve 32D or a tandem air/EGR valve 34D to control flow into the air & EGR mixer 16D, also as previously described for the system 10C (FIG. 3).

The system 10D (FIG. 4) also includes a mass airflow sensor (MAF) 15D in signal communication with the controller 25D configured to measure the mass flow of air into a turbocharger 56D. The system 10D also includes a temperature and manifold absolute pressure (TMAP) sensor 17D in signal communication with the controller 25D configured to measure the temperature and absolute pressure of the air flow into the intake manifold 20D. The system 10D also includes an (RPM) sensor 19D in signal communication with the controller 25D configured to measure the speed of the engine 12D in revolutions per minute. The system 10D also includes an exhaust gas oxygen (EGO) sensor 21D in signal communication with the controller 25D configured to measure the oxygen content of the exhaust gas flowing through the conduit 62D.

In the system 10D (FIG. 4) the exhaust gas flows from the exhaust manifold 20D of the engine 14D into the turbocharger 56D. Some details of the turbocharger 56D not shown in FIG. 4, are shown in FIG. 6. As shown in FIG. 4, the exhaust manifold 20D and the turbocharger 56D are in flow communication via a conduit 64D. The turbocharger 56D includes an air intake 66D, which takes in ambient air from the atmosphere. As shown in FIG. 6, the exhaust gas from the conduit 64D flows through an exhaust gas inlet 94D (FIG. 6) into a turbine 68D (FIG. 6) of the turbocharger 56D. As the turbine 68D (FIG. 6) rotates, it powers a compressor 70D (FIG. 6), which compresses air entering the turbocharger 56D through the air intake 66D (FIG. 4). The turbocharger 56D is in flow communication with the air & EGR flow control valve 16D (FIG. 4) via a conduit 60D (FIG. 4). In addition, the system 10D (FIG. 4) can optionally include an air charge intercooler/condensate trap 40D (FIG. 4) in flow communication with the turbocharger 56D (FIG. 4), and with the air and EGR flow control valve 18D (FIG. 4) and with the air & EGR Mixer 16D (FIG. 4).

The system 10D (FIG. 4) can also include a wastegate 58D in signal communication with the controller 25D and in flow communication with the exhaust manifold 20D via the conduit 64D. The wastegate 58D is configured for air boost pressure control and additional air/EGR ratio control. The wastegate 58D can open or close to change the speed of the turbine 68D (FIG. 6) in the turbocharger 56D. Excess exhaust gas is vented through the wastegate 58D, which is in flow communication with the exhaust catalyst 22D via the conduit 62D. After exhaust gas is processed in the exhaust catalyst 22D, it leaves the system 10B via the exhaust outlet 24D. The wastegate 58D is also in flow communication with the turbocharger 56D via the conduit 62D. Exhaust gas is mixed with the air from the air intake 66D and recirculated back to the air & EGR flow control valve 16D.

Optionally, the wastegate 58 (FIG. 4) can be replaced by a variable geometry actuator 116D (FIG. 4) in signal communication with the controller 25D. The variable geometry actuator 116D is configured to restrict the flow of exhaust gas into the turbine 68D (FIG. 6) by changing the cross sectional flow area of exhaust gas entering the turbine 68D (FIG. 6). The variable geometry actuator 116D opens or closes depending on the desired amount of flow needed by the turbocharger 56D. By changing the cross sectional flow area of the exhaust gas over the turbine 68D (FIG. 6), the speed of the turbine 68D (FIG. 6) is changed, which proportionally changes the speed of the compressor 70D (FIG. 6), and thus the amount of ambient air delivered to the engine 12D.

Referring to FIG. 6, additional details of the turbocharger 56D are illustrated. The turbocharger 56D includes the compressor 70D having an air inlet 82D, a compressor chamber 80D, and a compressor air discharge 84D in flow communication with the compressor chamber 80D. The turbocharger 56D also includes the turbine 76D, which includes an exhaust gas inlet 94D and an exhaust gas outlet 96D. The compressor air inlet 82D receives ambient air from the atmosphere. The turbocharger 56D is in flow communication with the air & EGR flow control valve 16D (FIG. 4), and provides compressed air to the conduit 60D (FIG. 4) via the compressor air discharger 84D. The turbine 68D is also in flow communication with the exhaust manifold 20D (FIG. 4) via the conduit 64D (FIG. 4), and receives a supply of exhaust gas, which causes the turbine 68D to rotate. Once the exhaust gas passes through the turbine 68D, it is discharged through the exhaust gas outlet 94D.

The wastegate 58D (FIG. 4) controls the flow of exhaust gas entering the turbine 68D (FIG. 6). As less exhaust gas enters the turbine 68D (FIG. 6), the speed of the turbine 68D (FIG. 6) decreases. The wastegate 58D (FIG. 4) senses the boost pressure of the turbocharger 56D (FIG. 4). If the pressure gets too high, it could be an indicator that the turbine 56D is spinning too quickly, so the wastegate 58D bypasses some of the exhaust gas allowing the turbine 56D to slow down.

The turbocharger 56D (FIG. 6) can also include a pressure sensor 118D (FIG. 6) in signal communication with the controller 25D configured to sense the boost pressure inside of the turbocharger 56D. The pressure sensor 118D (FIG. 6) is also in signal communication with the wastegate 58D (FIG. 4). The pressure sensor 118D can control the wastegate 56D using either mechanical or electronically controlled components. The pressure sensor 118D (FIG. 6) can optionally include, or be in signal communication with, a processor 120D (FIG. 6) configured to determine whether the boost pressure should be raised or lowered to match the conditions of the engine 12D (FIG. 4). Optionally, the processor 120D (FIG. 6) can also be in signal communication with the controller 25D for controlling the wastegate 58D (FIG. 4) based upon the current needs of the engine 12D, as well as on the boost pressure of the turbine 68D (FIG. 6).

The pressure sensor 118D (FIG. 6) can also be in signal communication with the controller 25D. The 25D makes determinations on whether the boost pressure needs to be adjusted to meet the needs of the engine, and the wastegate 56D (FIG. 4) would adjust accordingly based upon the control signals sent by the controller 25D.

Optionally, the pressure sensor 118D (FIG. 6) can be in signal communication with the variable geometry actuator 116D (FIG. 4). Based upon readings from the pressure sensor 118D (FIG. 6), the variable geometry actuator 116D (FIG. 4) would open or close accordingly to match the necessary conditions of the engine 12D (FIG. 4). The pressure sensor 118D (FIG. 6) could also be in signal communication with the controller 25D, which could control the variable geometry actuator 118D (FIG. 4). For example, the controller 25D could determine whether the position of the variable geometry actuator 116D (FIG. 4) needs to be changed, and the send control signals to effect the changes.

Referring to FIG. 5, an alternate embodiment system 10E containing a turbocharging system is illustrated. The system 10E is substantially similar to the system 10D (FIG. 4), but the air and recirculated gas are mixed at low pressure prior to entering the turbocharger 56E. The system 10E includes an engine 12E, an intake manifold 14E, an air & EGR Mixer 16E, an air & EGR flow control valve 18E, an exhaust manifold 20E, an EGR cooler/condensate trap 26E, an exhaust catalyst 22E, an air charger cooler/condensate trap 40E and a controller 25E, all of which are constructed substantially as previously described for the system 10D (FIG. 4). The system 10E can also include a proportional control valve 32E or a tandem air/EGR valve 34E to control flow into the air & EGR mixer 16E, also as previously described for the system 10D (FIG. 4).

The system 10E (FIG. 5) also includes a mass airflow sensor (MAF) 15E in signal communication with the controller 25E configured to measure the mass flow of air into the turbocharger 56E. The system 10E also includes a temperature and manifold absolute pressure (TMAP) sensor 17E in signal communication with the controller 25E configured to measure the temperature and absolute pressure of the air flow into the intake manifold 20E. The system 10E also includes an (RPM) sensor 19E in signal communication with the controller 25E configured to measure the speed of the engine 12E in revolutions per minute. The system 10E also includes an exhaust gas oxygen (EGO) sensor 21E in signal communication with the controller 25E configured to measure the oxygen content of the exhaust gas exiting the conduit 62E. As with the previous embodiments, air flow, EGR flow and hydrogen fuel flow to the engine 12E are controlled to achieve a stoichiometric fuel/air ratio at the desired torque. The sensors also provide the data necessary for calculating the EGR percentage, which may be further used for other engine control functions, such as ignition timing.

Referring to FIG. 7, an engine 12 which is generic to each of the previous embodiments (12A-12E), is illustrated in further detail. The engine 12 includes an intake manifold 14 and an exhaust manifold 20. The engine 12 also includes one or more cylinders 102, and a spark plug 104 in each cylinder 102. Each cylinder 102 also includes a fuel injector 106 configured to provide hydrogen fuel to the cylinder 102. The hydrogen fuel is injected into the air flow into the intake manifold 14.

The engine 12 also includes an engine controller 25 configured to regulate the flow rate of hydrogen fuel into the fuel injectors 106. The engine controller 25 can include a processor (CPU), input/output ports, and electronic storage components, such as read only memories (RAM) and random access memories (RAM) containing processor executable instructions and calibration values. The engine controller 25 receives signals from one or more MAF sensors 15, TMAP sensors 17, RPM sensors 19 and exhaust gas sensors 21. In addition, additional sensors can be used to provide additional engine operating conditions and data to the engine controller 25. The engine controller 25 is also in signal communication with and controls the timing of the spark plugs 104. In addition, the engine controller 25 controls the hydrogen fuel supplied by the fuel injectors 106 to the cylinders 102, and the air & EGR flow supplied by the air & EGR flow control valves 16A-16E to the cylinders 102.

In addition to being in flow communication with the fuel injectors 106 and the air & EGR flow control valves 16A-16E via the intake manifold 14, the cylinders 102 are also in flow communication with the exhaust manifold 20. The exhaust manifold 20 includes an exhaust oxygen sensor 21 configured to measure the oxygen content of the exhaust gas exiting the cylinders 102.

In order to regulate the delivery of the hydrogen fuel to the fuel injectors 106 and to the cylinders 102, the engine controller 25 can initially determine a required airflow rate into the engine 12. The corresponding stoichiometric amount of hydrogen fuel can then be determined. One method for performing these determinations uses the engine speed in revolutions per minute (RPM), the intake manifold absolute pressure (MAP), and the intake manifold temperature (MAT), to calculate a total intake flow (TIF). The total intake flow (TIF) is theoretically proportional to a volumetric efficiency correction factor (VE) multiplied by the engine displacement (D) times (MAP) times (RPM/MAT). (TIF=VE*D*MAP*RPM/MAT). The total intake flow (TIF) can be determined by the formula TIF=(MAF+EGR)=K*MAP*RPM*VE/MAT (where K is a proportionality constant including engine displacement and unit conversions). The values for MAP, RPM and MAT are provided by the sensors 17, 19, 21.

Still referring to FIG. 7, the engine controller 25 can also include, or be in signal communication with, a look up table 132. Any real-world deviation from constant proportionality, known as the ‘volumetric efficiency’, can be characterized in the look-up table 132. This method, called the ‘speed-density’ airflow measurement technique, calculates the total intake air+EGR flow, but does not provide any information about the air-only flow, specifically, which is needed for the corresponding stoichiometric hydrogen calculation.

Another method of intake flow measurement, illustrated in FIG. 8, uses a mass airflow (MAF) sensor 15 in electrical communication with the engine controller 25. The MAF sensor 15 can comprise an electrically heated wire or film, which is cooled by the incoming air. This technique is also known as hot-wire anemometry. The electrical power required to maintain a constant high temperature (about 90° C. to 150° C.) in the MAF sensor 15 is directly related to the mass airflow (MAF). To maintain the MAF sensor 112 at a constant temperature, a feedback circuit can be used.

An exemplary feedback circuit in the form of a Wheatstone bridge 124 is shown in FIG. 10. The Wheatstone bridge 124 can include a hot wire 122 and a voltmeter 126. The Wheatstone bridge 124 can be configured such that the wire resistance of the hot wire 122 is kept constant over the bandwidth of the feedback loop. The electrical power input to the MAF sensor 15 is then related to the voltage across the MAF sensor 15, and this voltage provides a measure of the flow velocity. Since the hot wire voltage is a potential division of the output voltage, the output voltage is normally measured for convenience. Once the output voltage is known, the engine controller 25 can compute the flow rate of air past the MAF sensor 15.

While MAF sensors 15 are appropriate and accurate for ambient air measurement, there are some drawbacks to using them for flow measurements that include EGR. EGR has the potential for variable composition and therefore variable thermal characteristics due to fuel/air ratio changes and variable exhaust water condensation. Any changes in thermal characteristics will cause changes in the MAF measurement. In addition, corrosive condensation entrained as droplets can damage the fragile hot wire 122, and unburned hydrogen and oxygen can ignite on the hot wire 122, which is commonly made from catalytic materials.

Speed-density is a robust method for determining the total air+EGR engine intake flow. The air-only flow can then be measured using the MAF sensor 15 upstream of the air & EGR flow control valve (e.g., 18C-FIG. 3) and inside the ambient air conduit (e.g., 38C-FIG. 3). As ambient air flows into the air & EGR flow control valve (e.g., 18C-FIG. 3), it will pass through the MAF sensor (e.g., 15C-FIG. 3), giving the engine controller 25 a measurement of the rate of air-flow. The difference between the value calculated by the speed density method, which is the total amount of air & EGR provided to the engine 12, and the MAF sensor (e.g., 15C-FIG. 3), which is the ambient air only flow rate, provides the EGR flow rate. The MAF sensor (e.g., 15C-FIG. 3) provides the information necessary to calculate the hydrogen fuel requirements to maintain a stoichiometric fuel/air mixture. The final determination of actual fuel/air ratio can be provided by direct exhaust oxygen measurement using the oxygen exhaust sensor 21 (FIG. 7). Either narrowband or wideband oxygen exhaust sensors can be used for fuel control feedback and fine-tuning. The independent knowledge of airflow and EGR flow can be used to calculate an appropriate engine load measurement, which can be used as one dimension in the spark ignition timing calibration table. This load parameter can also be used for many other electronic engine control tables and functions.

The airflow and air/EGR ratio measurements outlined above are not the only possibilities, but are given as preferred methods for robust engine control. Other flow measurement techniques, such as differential pressure and valve position, or other EGR dilution measurement methods, such as intake manifold oxygen sensing, can also be used, but may not be as accurate, robust, and/or safe in the present application.

FIG. 9 summarizes the steps in the above outlined methods for determining the stoichiometric fuel/air ratio from engine operating data.

The method for operating a hydrogen powered internal combustion engine is illustrated in FIG. 11. The method includes the step of providing a flow of gaseous hydrogen fuel to the internal combustion engine, and the step of providing a flow of ambient air to the engine. The method also includes the step of sensing the flow of ambient air flow to the engine. The method also includes the steps of providing a flow of recirculated exhaust gas (EGR) to the engine, and mixing the flow of recirculated exhaust gas (EGR) and the flow of ambient air prior to combustion. The method also includes the steps of sensing a flow rate of the combined flow of the flow of ambient air flow and the flow of the EGR, determining a flow rate of the flow of EGR, determining the necessary flow of hydrogen fuel to create a stoichiometric fuel/air ratio, and regulating the flow of hydrogen fuel to control the torque of the engine and create a stoichiometric fuel/air ratio. As previously outlined, the EGR flow rate can be determined by subtracting the flow of ambient air from the total intake flow of ambient air+EGR. In addition, the total flow of ambient air+EGR can be achieved using the ‘speed-density’ method as described above.

In addition to regulating the flow of hydrogen fuel necessary to create stoichiometric fuel/air ratios, the method can also include the steps of determining the necessary stoichiometric ratios of hydrogen fuel, ambient air flow and recirculated exhaust gas, and adjusting the flows of all three gases accordingly to control engine torque and achieve stoichiometric fuel/air ratios.

To achieve a stoichiometric exhaust gas containing zero oxygen, the method can further include the steps of measuring the amount of oxygen present in the exhaust gas produced by the internal combustion engine, adjusting the fuel/air ratio, and regulating the flow of ambient air, hydrogen fuel and EGR to produced a zero oxygen exhaust.

Additionally, the method can include the step of providing the exhaust gas produced by the engine to a three-way catalyst configured to remove emissions from the exhaust gas, such as NOx, as well as carbon monoxide and hydrocarbon emissions from lubrication oil consumption.

Thus the invention provides an improved system and method for operating a hydrogen powered internal combustion engine. While the invention has been described with reference to certain preferred embodiments, as will be apparent to those skilled in the art, certain changes and modifications can be made without departing from the scope of the invention as defined by the following claims. 

1. A system comprising: a hydrogen fueled internal combustion engine configured to produce an exhaust gas; a fuel system configured to provide a flow of hydrogen fuel and a flow of ambient air to the engine; an EGR system, configured to provide a flow of recirculated gas which includes the exhaust gas; a controller configured to operate the fuel system, and the EGR system such that a torque of the engine is controlled and the engine receives the flow of hydrogen fuel, the flow of ambient air and the flow of recirculated gas in a stoichiometric fuel/air ratio; at least one sensor configured to provide data to the controller for calculating the stoichiometric fuel/air ratio; and a mixture comprising the hydrogen fuel, the ambient air and the recirculated gas provided to the engine in the stoichiometric fuel/air ratio by the fuel system, the EGR system, the controller and the sensor.
 2. The system of claim 1 wherein the EGR system comprises an internal system wherein the exhaust gas is either trapped or drawn back into the engine.
 3. The system of claim 2 further comprising a throttle in signal communication with the controller configured to control the flow of ambient air into the engine.
 4. The system of claim 2 further comprising a variable valve in signal communication with the controller configured to adjust a valve timing of the engine to control the flow of ambient air into the engine and to either trap or draw back the exhaust gas in the engine.
 5. The system of claim 1 wherein the EGR system comprises an external system comprising an air & EGR flow control valve configured to control the flow of ambient air and the flow of recirculated gas to the engine.
 6. The system of claim 1 further comprising a three-way exhaust catalyst configured to remove one or more emission gases from the exhaust gas.
 7. A system comprising: a hydrogen fueled internal combustion engine having at least one cylinder configured to produce an exhaust gas; a fuel system configured to provide a flow of hydrogen fuel and a flow of ambient air to the cylinder; an EGR system configured to provide a flow of recirculated gas which includes the exhaust gas to the cylinder; an air & EGR flow control valve configured to control the flow of ambient air and the flow of recirculated gas to the cylinder; a three-way exhaust catalyst configured to remove one or more emission gases from the exhaust gas; an engine controller configured to operate the fuel system, the EGR system and the air & EGR flow control valve such that a torque of the engine is controlled, throttling work is minimized and the engine receives the flow of hydrogen fuel, the flow of ambient air and the flow of recirculated gas in a stoichiometric fuel/air ratio; a plurality of sensors configured to provide data on engine temperature, engine pressure, the flow of ambient air and the flow of recirculated gas to the engine controller for calculating and controlling the torque of the engine and the stoichiometric fuel/air ratio; and a mixture comprising the hydrogen fuel, the ambient air and the recirculated gas provided to the engine in the stoichiometric fuel/air ratio by the fuel system, the EGR system, the air & EGR flow control valve, and the engine controller.
 8. The system of claim 7 wherein the engine controller further comprises components for determining and adjusting the flow of hydrogen fuel, the flow of ambient air, and the flow of recirculated gas, to control the torque of the engine, to minimize the throttling work and to achieve the stoichiometric fuel/air ratio.
 9. The system of claim 7 further comprising an air & EGR mixer in flow communication with the air & EGR flow control valve configured to mix the flow of ambient air and the flow of recirculated gas.
 10. The system of claim 7 wherein the air & EGR flow control valve comprises a proportional control valve configured to proportion the flow of ambient air and the flow of recirculated gas.
 11. The system of claim 7 wherein the air & EGR flow control valve comprises a tandem air/EGR valve comprising an exit orifice, an air valve configured to regulate the flow of ambient air into exit orifice, and an EGR valve configured to regulate the flow of recirculated gas into the exit orifice.
 12. The system of claim 7 further comprising a supercharger in flow communication with the air & EGR flow control valve configured to provide the flow of ambient air to the air & EGR flow control valve.
 13. The system of claim 12 further comprising an air charge intercooler in flow communication with the supercharger configured to cool the flow of ambient air upstream of the air & EGR flow control valve.
 14. The system of claim 7 wherein one of the sensors comprises a MAF sensor upstream of the air & EGR flow control valve.
 15. The system of claim 14 wherein the MAF sensor comprises an electrically heated wire configured to keep a constant high temperature, and wherein the MAF sensor is configured to determine a power required to maintain the constant high temperature, and a mass airflow rate based on a direct relationship between the mass airflow rate and the power.
 16. The system of claim 14 wherein the MAF sensor comprises an electrically heated wire configured to keep a constant high temperature, and wherein the engine controller is configured to determine a power required to maintain the constant high temperature, and the mass airflow rate based on a direct relationship between the mass airflow rate and the power.
 17. The system of claim 7 further comprising an oxygen exhaust gas sensor downstream of the cylinder in signal communication with the engine controller configured to determine an amount of oxygen present in the exhaust gas.
 18. The system of claim 7 wherein the engine controller is configured to control the fuel system, the EGR system, and the air & EGR flow control valve based on the torque on the engine and an amount of oxygen present in the exhaust gas.
 19. The system of claim 7 further comprising a turbocharger having a compressor and a turbine downstream of the air & EGR flow control valve configured to provide the flow of ambient air to the air & EGR flow control valve.
 20. The system of claim 19 further comprising an air charge intercooler in flow communication with the turbocharger configured to cool the flow of ambient air upstream of the air & EGR flow control valve.
 21. The system of claim 19 further comprising a wastegate upstream of the turbine in flow communication with the engine configured to control the recirculated gas flow provided to the turbine.
 22. The system of claim 19 further comprising a variable geometry actuator upstream of the turbine configured to control a cross-sectional flow area of the recirculated gas entering the turbine.
 23. The system of claim 7 further comprising a turbocharger having a compressor and a turbine upstream of the air & EGR flow control valve configured to provide the flow of ambient air and the flow of recirculated gas to the cylinder.
 24. The system of claim 23 further comprising an air charge intercooler in flow communication with the compressor configured to cool a flow of compressed air and recirculated gas.
 25. The system of claim 23 further comprising a wastegate upstream of the turbine in flow communication with the engine configured to control a boost pressure provided by the compressor by reducing exhaust gas flow through the turbine.
 26. The system of claim 23 further comprising a variable geometry actuator upstream of the turbine configured to control a cross-sectional flow area of the exhaust gas entering the turbine.
 27. A method of operating a hydrogen powered internal combustion engine comprising: providing a flow of hydrogen fuel to the engine; providing a flow of ambient air to the engine; providing a flow of recirculated exhaust gas to the engine; mixing the flow of recirculated exhaust gas and the flow of ambient air; determining the flow of hydrogen fuel, the flow of ambient air and the flow of recirculated exhaust gas to the engine necessary to form a mixture comprising the hydrogen fuel, the ambient air and the recirculated exhaust gas in a stoichiometric fuel/air ratio; regulating the flow of hydrogen fuel, the flow of ambient air and the flow of recirculated exhaust gas to the engine to control a torque of the engine and form the mixture in the stoichiometric fuel/air ratio; and burning substantially all of the hydrogen fuel in the mixture provided to the engine.
 28. The method of claim 27 further comprising determining ratios of the flow of hydrogen fuel, the flow of ambient air and the flow of recirculated exhaust gas necessary for the stoichiometric fuel/air ratio at a desired torque, and regulating the flow of hydrogen fuel to achieve the stoichiometric fuel/air ratio at the desired torque.
 29. The method of claim 27 further comprising providing an exhaust oxygen sensor configured to measure an amount of oxygen present in exhaust gas produced by the engine, and adjusting the flow of the hydrogen fuel, the flow of ambient air and the flow of recirculated exhaust gas to achieve substantially zero oxygen in the exhaust gas.
 30. The method of claim 27 further comprising providing exhaust gas produced by the engine to a three-way catalyst configured to remove emissions from the exhaust gas.
 31. A method of operating a hydrogen powered internal combustion engine having at least one cylinder comprising: providing a flow of hydrogen fuel to the cylinder; providing a flow of ambient air to the cylinder; trapping or drawing exhaust gases into the cylinder; determining the flow of hydrogen fuel, the flow of ambient air and a flow of the exhaust gases to the cylinder necessary to achieve a stoichiometric fuel/air ratio; regulating the flow of hydrogen fuel, the flow of ambient air and the flow of exhaust gases to the cylinder to control a torque on the engine, to minimize throttling work and to provide a mixture comprised of the hydrogen fuel, the ambient air and the exhaust gases in a stoichiometric fuel/air ratio; and burning substantially all of the hydrogen fuel in the mixture provided to the cylinder.
 32. The method of claim 31 wherein the regulating step comprises throttling the flow of ambient air.
 33. The method of claim 31 wherein the regulating step comprises varying a valve timing of the cylinder. 